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. 2016 Mar 4;6:22534. doi: 10.1038/srep22534

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Copyright © 2016, Macmillan Publishers Limited

This work is licensed under a Creative Commons Attribution 4.0 International License. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in the credit line; if the material is not included under the Creative Commons license, users will need to obtain permission from the license holder to reproduce the material. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/

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(a) Human-machine interface. Region A is for the real-time video monitoring; Region B is for the imaging processing; Region C is for the nanorobot control, and Region D is for the cell analysis, respectively. (b) Images comparison between before and after image filtering. (b1,b2) are two examples during the cell cutting experiment: the left images are the original images and the right images are the ones after filtering. The left-bottom window in each picture shows the overall images. (c) Illustration of the object recognition. The nanoknife is recognized by template matching. The cell is recognized by single clicking on the human-machine interface. In the developed software, the horizontal and vertical direction is defined as X axis and Y axis, respectively.